Implement for and a method of milking animals automatically

ABSTRACT

An implement for milking animals, especially cows, automatically, is provided with teat cups. In the line system from a teat cup down to the location where the milk lines from the teat cups join, there is provided a vacuum-sensitive sensor and/or milk-sensitive sensor and/or a temperature sensitive sensor and/or a sensor sensitive to the electrical conductivity of the milk flow. Furthermore, there is provided a computer for processing and reproducing information conveyed from these sensors.

This is a continuation-in-part of application Ser. No. 916,728, filedJul. 22, 1992, now U.S. Pat. No. 5,275,124, which is a continuation ofSer. No. 818,764, filed Jan. 13, 1992, now U.S. Pat. No. 5,195,456,which is a continuation-in-part of Ser. No. 485,579, filed Feb. 27,1990, now U.S. Pat. No. 5,080,040.

FIELD OF THE INVENTION

The present invention relates to an implement and a method for milkinganimals, that is especially suitable for milking cows.

BACKGROUND OF THE INVENTION

Automatic milking takes place in a milking parlor which is provided witha milking robot typically comprising a robot arm functioning as acarrier of one or several teat cups to be applied to the teats of ananimal's udder. The teats are located by means of one or severalsensors, whereupon the robot arm--swung from a side of the milkingparlor to underneath the animal--can be positioned so that through anupward movement of an appropriate teat cup said teat cup can be appliedto a teat of the animal's udder. In order to control the process ofconnecting the teat cups, the milking process itself, and the physicalconstitution of the cows, according to the invention, the implement ischaracterized in that in the line system from a teat cup down to thelocation where the milk lines from the teat cups join there is providedone or more sensors including a vacuum-sensitive sensor, aflow-sensitive sensor, a temperature-sensitive sensor, an electricalconductivity sensor. A computer is also provided for processing andreproducing the information produced by these sensors. Such a linesystem may be provided for each of the quarters of the animal's udder.The sensors may be placed in only one line and consequently relate tothe flow of milk from only one teat, but they may also be placed inseveral lines from individual teat cups and then relate to the flow ofmilk from several teats. When the flows of milk from the individualteats are combined in a milk claw, the sensors should be placed in oneor several teat cups and in the relatively short lines from said teatcups to the milk claw; if desirable, the milk claw may comprise separatecompartments to accommodate sensors for each of the quarters of theanimal's udder, with the milk from these compartments joining togetherin a further part of this milk claw. When the milk from the individualteats is fed through separate lines to a common milk meter, the sensorsin one or several teat cups and in these separate milk lines should beplaced before the connection to the milk meter. When separate milkmeters are used for the milk flows from the various teats the flow ofmilk leaving such a milk meter is fed into a central milk line and theline system in which sensors may be included is considerably longer. Itshould be kept in mind, however, that the location of the sensors isalso determined to a large extent by the nature of the sensor. Thetemperature-sensitive sensor, for example, should not be placed too fardownstream from a teat cup, because the milk will have cooled down toomuch there and the information from this sensor will thus be of littlevalue.

According to another aspect of the invention, the implement can beprovided with a vacuum-sensitive sensor for each of a plurality of teatcups, to detect the presence and/or a vacuum drawn amount therein. For aset of teat cups, the implement may be provided with a vacuum-sensitiveand a flow-sensitive sensor combined with a computer to determine thedead time associated with the flow of milk. However, for each of aplurality of teat cups, the implement may also comprise a combination ofa vacuum-sensitive and a flow-sensitive sensor to determine, inassociation with a computer, the dead time with regard to the flows ofmilk in the relevant teat cups.

According to a further aspect of the invention, the implement caninclude a temperature-sensitive sensor for one or several teat cups todetermine the temperature of the relevant flow of milk, and also acomputer to determine the dead time and, in conjunction with theinformation originating from the temperature-sensitive sensor, toproduce an indication of an abnormally high temperature indicating aphysiological condition in the animal. Furthermore, there may beprovided for one teat cup or for each of a plurality of teat cups acombination of a temperature-sensitive sensor and a sensor to determinethe electrical conductivity of a flow of milk, by means of whichcombination, in association with a computer, mastitis may be detected inone or several quarters of the animal's udder.

A further problem encountered when attempting to apply a teat cup isthat sometimes the attempt to apply the teat cup correctly to anappropriate teat is unsuccessful.

This invention provides the capability to detect and resolve thisproblem as described hereinafter. As soon as a teat cup has been appliedto an appropriate teat of the animal's udder, a vacuum is drawn in theteat cup, the presence of which vacuum is detected by a vacuum-sensitivesensor. However if, the vacuum-sensitive sensor does not detect thepresence of a vacuum, which indicates that the teat cup has not beenapplied or has not been applied appropriately, one or more subsequentattempts may be made to apply the teat cup to the relevant teat,possibly preceded by a renewed determination of the teat's position inrespect of the teat cup which is carried by the robot arm and is to beapplied to this teat. Indication of the presence or absence of asufficient vacuum may be provided by supplying a signal produced by thevacuum-sensitive sensor to a computer which controls the robot arm.

However, even if a sufficient vacuum has been detected by thevacuum-sensitive sensor, it may happen that the teat cup is not correctly connected. For there is a possibility exists that the teat cup isconnected to a folded-up teat pressed against the udder, so that theteat is not appropriately seated in the teat cup, whereas a sufficientvacuum may still be drawn in the teat cup. This situation, may also bedetected according to this invention as follows:

After a teat cup has been applied to the appropriate teat, the start ofthe milk flow is detected by means of a flow-sensitive sensor, whereas,in the event that, within a predetermined time from the connection ofthe relevant teat, the milk flow from this teat has not started, theteat cup is disconnected and applied anew. In disconnecting andre-applying the teat cup, the teats should be distinguished from eachother. When the teat cups are installed from one side with respect tothe animal's udder the teat cups may be led underneath the teatsconcerned and be applied to them, but, when one of the teat cups to bedisconnected is to be re-applied to a hindmost teat this teat cup may beimpeded by the foremost teat cup that is already connected. If thissituation occurs first the two foremost teat cups are disconnected, thenthe hindmost teat cup is connected and finally, the two foremost teatcups are re-applied. In other words, if a hindmost teat cup needs to bedisconnected to be re-applied, this can be done after firstdisconnecting the foremost teat cups, primarly because of a lack ofspace; whereas if a foremost teat cup needs to be disconnected andre-applied, this can be done immediately. However, when the distancebetween the foremost teats is sufficiently large, such that re-applyinga hindmost teat cup is not impeded, it will not be necessary to take theforemost teat cups away first. When the position of a teat has beendetermined, a teat cup is connected to this teat through means providedfor this purpose, these means being part of the milking robot.

According to the invention these means, e.g. an electromagnet grippingthe teat cups individually and being moved upwards hydraulically asdescribed in EP-A-0 360 354, remain activated until the presence of asufficient vacuum in the teat cup has been established by thevacuum-sensitive sensor, whereas in the event that not a sufficientvacuum has been established after a certain time lapse of e.g. a fewseconds, it will again be attempted to connect the relevant teat cup bya renewed activation of said means. After a correct connection of a teatcup to an appropriate teat has been made, the vacuum can be continuouslytested in order to obtain an indication signal when the teat cup fallsoff before the flow of milk has stopped, e.g. owing to the fact that itis kicked away by the animal.

The time lapse from the instant when a teat cup is connected to a teatto the instant when the flow of milk from this teat starts is called thedead time. This dead time can be determined by means of a computer.Accordingly, the invention also relates to a method of milking animals,especially cows, automatically, where the dead time between the instantwhen one of the teat cups is connected to an appropriate teat and theinstant when the flow of milk from this teat starts is determined bymeans of a computer. In particular, the dead time between the instantwhen the vacuum-sensitive sensor has established a sufficient vacuum ina teat cup applied to a relevant teat and the instant when aflow-sensitive sensor has detected that the milk has begun to flow isdetermined by means of a computer. It will be sufficient to determinethe dead time with respect to the start of the milk flow in the teat cuplast applied. The idea behind this is that the dead time with respect tothe last teat cup will be much the same as the dead time determined forthe application of the other teat cups. It will be more correct,however, to determine. the dead time for the flow of milk from each ofthe teats.

In actual practice there appear to occur situations associated with thephysical condition of the animals, which cause relatively largedifferences in dead times with regard to the start of the milk flowsfrom the various teats. Of course, the situation where e.g. the lastteat cup has not been applied correctly, or not at all, with the resultthat the animal cannot be milked at all, while the flows of milk in theteat cups connected first have already started, may occur at any time.Nevertheless, the animal should then leave the milking parlor. As far asthe dead times which have been established relative to the flows of milkwhich did start, further conclusions may of course be drawn therefrom.

According to another aspect of the invention, the extent to which thedead time has exceeded a predetermined value for a particular animal canbe determined by means of the computer. In particular, for each of theflows of milk from the various teats, the extent to which dead timeexceeds the predetermined value is determined. This predetermined valuewill be different not only for various animals, but it will also changeas the animals age. The farmer, however, will be basically interestedonly in those cases where the predetermined value is exceeded. When ananimal is estrous or ill, the dead time will generally be longer thanusual. If the predetermined value of the dead time has been exceeded bya certain percentage, the farmer has accordingly obtained an indicationsignal of the animal's heat or illness.

If a relatively long time, for example, twice the dead time determinedpreviously for the animal, has elapsed after the vacuum in the teat cuphas been established, then the computer draws the conclusion that thedead time cannot be determined, because the flow of milk has apparentlynot started, which may happen when an animal just milked has entered themilking parlor again. The animal should then be led away from themilking parlor.

According to the invention, a more reliable indication signal of heat orillness is obtainable from parameters including one or more of thefollowing: the milk rate of flow, the temperature of a milk flow, themilk yield, and/or the number of times per given time period that ananimal pays a visit to the milking parlor or the food quantity consumedin the milking parlor. These parameters for ill or estrous animals aredifferent from those for healthy and non-estrous animals. One or more ofthe parameters may be combined with the dead time and analyzed by acomputer. In doing so, to achieve a higher accuracy, especially thetemperatures of each of the flows of milk from the various teats can bedetermined. For the determination of the temperature, use is made oftemperature-sensitive sensors to be arranged in the flow of milk. Whenthe farmer has obtained an indication that the animal is ill orthreatens to fall ill, it is important to know whether mastiris or anyother disease is involved. According to the invention, an indicationthat an animal suffers from mastiris can therefore be obtained in thecomputer by means of a sensor for electrical conductivity of the milkflow and, if necesary, also by means of a temperature-sensitive sensor.In particular, the electrical conductivity of the flow of milk from eachof the teats can be determined. Furthermore, the computer can alsodetermine to what extent the electrical conductivity of a flow of milkhas exceeded a predetermined value for a particular animal. In order toexclude short-lived fluctuations as well as any highly gradual change inelectrical conductivity of the flow of milk, this predetermined value isrepeatedly re-defined by the progressive average of the relevant valuesestablished in the immediately preceding period of time, for instance,that of the latest ten measurements of electrical conductivity made. Asa matter of fact, this also applies to the predetermined thresholdvalues of the dead time.

Not only can the flow-sensitive sensor be used for establishing that aflow of milk has started, but also for establishing that a flow of milkhas stopped. According to this invention, such a stop of the flow ofmilk is indicated to the computer, which ensures that the relevant teatcup is disconnected after the lapse of a certain period of time, (forexample, two to sixty seconds), following the occurrence of thisindication. The milk yield from the individual teats can thus beestablished. The function of the flow-sensitive sensor can be taken overby a milk meter; especially when the milk meter is capable ofdetermining in small increments the quantity of milk produced. It thenis possible to determine the milk yield, by calculating the differencebetween the starting and the stopping times of the flow of milk. It mayalso be desirable to have four milk meters to determine the milk yieldsfrom each of the individual teats.

The processing of the signals originating from the sensors by means of acomputer permits that, at times randomly selectable by the farmer, theoutput can be displayed on the computer monitor or printed on a printer.

The data to be displayed or printed may include for example whichanimals and to what extent the dead time and/or the electricalconductivity of a flow of milk have exceeded their respectivepredetermined values. For example, the computer monitor or the printercould depict the following illustrative data a cow identified by number25 gave evidence of an electrical conductivity which was 16% in excessof the predetermined value, a cow identified by number 100 gave evidenceof an electrical conductivity which was 20% in excess of thepredetermined value, a cow identified by number 150 gave evidence of anelectrical conductivity which was 22% in excess of the predeterminedvalue, etc. Similarly, it may be shown that a dead time for a cowidentified by number 15 has been established which was 13% in excess ofa previously determined value, that a dead time for a cow identified bynumber 38 has been established which was 8% in excess of a previouslydetermined value, etc.

On the basis of the information on the electrical conductivity of a flowof milk, as given by the computer, the farmer can decide on whether ornot the milk produced by a particular animal has to be drained off, forexample into a waste tank. If the milk is determined to beunsatisfactory, it is fed through a computer-controlled three-way valvein a relevant milk line and drained off into e.g. a waste tank insteadof being fed into a milk tank. When it is possible to establish that anyquarter of an animal's udder suffers from mastiris, this permits thedairy farmer to discard only the milk from the quarter affected. Thisinformation may also be displayed on the computer monitor or on theprinter. In addition to the aforementioned displayed or printed data onelectrical conductivity and dead time, it can be indicated that forexample, that milk from a cow identified by number 2 is being discarded,that milk from a cow identified by number 36 is being discarded, etc.

The invention will now be further explained with reference to theembodiment represented in the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of a milking plant according to thepresent invention, and

FIG. 2 is a vertical cross-section of a teat cup

DESCRIPTION OF THE PREFERRED EMBODIMENT

In FIG. 1, a milking plant 1 for an implement for milking an animalautomatically is depicted, with the representation of this milking plantbeing limited to only one teat cup 2 and one milk meter 3, for the sakeof simplicity. The milk obtained from each udder quarter by means ofteat cups 2 can be fed through a separate milk line 4 to a milkmeasuring apparatus comprising four milk meters 3. Separate dischargelines 5 of the milk meters 3 are connected to a common output line 7running to a milk tank 6. A more elaborate basic set-up of the milkingplant is depicted and described in European Patent Application EP-A-0385 539. The milking plant further comprises, a pulsator system 8 forthe four teat cups 2. Vacuum line 9 for the pulsator system 8 isconnected to a vacuum pump with an equalizer tank, as is described inEuropean Patent Application EP-A-0 385 539.

In FIG. 2, a vertical section of a teat cup 2 is shown; as is usual, theteat cup is constructed from a rigid, (for example, metal) sleeve 10;from an inner wall 11 constructed of a flexible material, such asrubber, located in this sleeve, and from a rubber cap 13 which closesoff the top side of gap 12 between the sleeve 10 and the inner wall 11.The bottom side of the gap between the sleeve 10 and the inner wall 11is closed by a sealing ring 14, while between the sleeve 10 and theinner wall, above said ring, there is provided a ring 15 having anopening 16. In between the sealing ring 14 and the ring 15 there is aspace to which a pulsating vacuum is applied by the pulsator system 8through a line 18 and an opening 17, giving rise to a pulsating vacuumin the space between the sleeve 10 and the inner wall 11. The pulsatingvacuum causes alternately the inner wall to enclose the teat tightly andthen move outwards, resulting in the rhythmic motion about the teat asrequired for milking, provided that the teat cup is correctly connectedto the teat. To provide a buffer for the milk to be col lected and tominimise fluctuations in the vacuum under the teat, there is provided abuffer space 19 in the bottom part of the teat cup, where a relativelynarrow air intake aperture 20 to facilitate the transport of milk isprovided. The line 4 serving to drain the milk to the milk meter 3 isconnected to this buffer space 19. Furthermore, in this buffer space 19there is provided a stationary member 21 which partially projects intothe opening between inner space 22 and the buffer space 19 to ensurethat the milk gradually flows into buffer space 19 and any separation ofthe milk is prevented. On the top side of this member 21 atemperature-sensitive sensor 23 is provided to make temperaturemeasurements. The milk temperature, as may thus be determined for milkalready in the teat cup 2, is a good indication measure of the bodytemperature of the animal being milked; especially the body temperaturesof ill animals. Those animals affected by mastitis will typically havehigher than normal body temperatures. A flow-sensitive sensor 24 used todetect the starting and stopping of the milk flow is included in adownstream portion of the milk line 4. The operation of thisflow-sensitive sensor is based on the circumstance that a flow of milkcauses an electrical connection between two electrodes. The inclinedposition of sensor 24 prevents milk when it ceases to flow left fromremaining between the electrodes, or to put it differently, it preventsfrom remaining a little pool of milk remains between the electrodes; forthis would result in a false indication of an uninterrupted flow of milkfrom teat cup. The milk line 4 also includes a vacuum-sensitive sensor26 to establish whether a sufficient vacuum exists in the milk line 4and the teat cup 2. In milk meter 3 there is provided a sensor 25 todetermine the electrical conductivity, this is the mastitis sensor. Thismastiris sensor comprises a reservoir provided with electrodes tomeasure the electrical conductivity of the milk that is in thereservoir. With each new flow of milk, the milk that is in the reservoiris replaced. If the milk is affected by mastitis, a higher electricalconductivity is detected. With every new flow of milk a slight increasein the electrical conductivity is observed in the beginning. It ispossible to establish when a flow of milk starts, too, by means of thismastiris sensor in the place of, or in addition to, the flow-sensitivesensor 24. The output signals S1, S2, S3 and S4 of the respectivesensors 23, 24, 25 and 26 are provided to a computer 27, where theinformation from these sensors is further processed and made availablefor the computer monitor 28. The discharge lines 5 are further providedwith a three-way valve 29 to be able to drain off the flow of milk froma quarter of the animal's udder that is affected by mastitis into awaste tank 30. When the farmer decides to send milk to the waste tank 30as the result of information made knowable determined by the computer heissues an appropriate command to the computer to do so. The three-wayvalve 29 receives a signal S5 produced by the computer to redirect theflow of milk to the waste tank 30 rather than to the milk tank 6.

Although we have disclosed a preferred embodiment of our invention, itis to be understood that it is capable of other adaptations andmodifications within the scope of the following claims.

Having disclosed our invention, what we claim as new and to be securedby Letters Patent of the United States is:
 1. An implement forautomatically milking animals, such as cows, comprising a line systemwhich comprises a plurality of milk lines that each extend from a teatcup to a junction formed where said plurality of milk lines from saidteat cups join; at least one sensor selected from the group consistingessentially of a vacuum-sensitive sensor, a flow-sensitive sensor, atemperature-sensitive sensor and an electrical conductivity sensor insaid line system;and a computer for processing and reproducinginformation provided thereto by said at least one sensor.
 2. Animplement as claimed in claim 1, wherein said flow-sensitive sensorproduces a signal when the flow milk from an animal's teat received in asaid teat cup stops, and means for receiving this signal capable ofautomatically taking such teat cup out of operation via said computer.3. An implement as claimed in claim 1, wherein said at least one sensorcomprises a vacuum-sensitive sensor and a flow-sensitive sensor whichprovide output signals to said computer whereby said computer determinesand records the time between when said plurality of teat cups isconnected to teats and when the flow of milk therefrom begins.
 4. Animplement as claimed in claim 1, wherein said at least one sensorcomprises a vacuum-sensitive sensor and a flow-sensitive sensor whicheach provide output signals to said computer whereby said computerdetermines and records the time between when one of said teat cups isconnected to a teat and the commencement of the flow of milk therefrom.5. An implement as claimed in claim 4, wherein said computer includesmeans for determining the presence of an abnormal physiologicalcondition in the animal being milked from calculated dead time.
 6. Animplement as claimed in claim 1, wherein said at least one sensorcomprises a temperature-sensitive sensor for at least one of said teatcups for measuring the temperature of the flow of milk from the animalbeing milked, and said computer determines therefrom the presence of anabnormal physiological condition in the animal.
 7. An implement forautomatically milking animals, such as cows, the implement comprisingteat cups, a milking plant and a computer located in said milking plant;said milking plant including a flow-sensitive sensor wherein a signal isproduced when the flow of milk from an animal's teat stops; and meansfor conveying said signal to a computer that automatically puts suchteat cup out of operation upon receiving said signal.
 8. An implement asclaimed in claim 7, wherein a vacuum-sensitive sensor for detecting avacuum within the teat receiving portion of a teat cup is provided foreach of said teat cups.
 9. An implement for automatically milkinganimals such as cows which comprise a computer, at least one teat cup,said at least one teat cup including a combination of a temperaturesensitive-sensor and an electrical conductivity sensor, said sensorsbeing interconnected with said computer so that said computer is capableof detecting abnormal physiological conditions in a said animal while itis being milked.
 10. A method of milking animals, such as cows, whichcomprises: applying a teat cup to the animal's teat; drawing a vacuum onthe portion of said teat cup wherein said teat is received; determiningthe amount of said vacuum with a vacuum-sensitive sensor, and removingand reapplying said teat cup to the animal's teat if the amount of saidvacuum is below a predetermined value.
 11. A method of milking animalsas claimed in claim 10, comprising detecting milk flow in said teat cupby a flow-sensitive sensor, and removing said teat cup from said teat ifa flow of milk is not detected by said sensor within a predeterminedperiod of time after connection of said teat cup to said teat or if saidflow stops.
 12. A method of automatically milking animals, such as cows,which comprises: determining the position of an animal's teat;connecting a teat cup to said teat with a connection means; detectingwhether a predetermined amount of vacuum exists in the portion of saidteat cup receiving said teat with a vacuum-sensitive sensor; andremoving and again connecting said teat cup to its corresponding saidteat when said predetermined amount of vacuum is not detected by saidsensor.
 13. A method of automatically milking animals as claimed inclaim 12, wherein said teat cups include two foremost teat cups and twohindmost teat cups; the method further comprising: first, disconnectingsaid foremost teat cups when said predetermined amount of vacuum is notdetected upon connection of said hindmost teat cups, then removing saidhindmost teat cups, next reconnecting said rearmost teat cups, andfinally reconnecting said foremost teat cups to said teats of theanimals being milked.
 14. A method of automatically milking animals asclaimed in claim 12, wherein said teat cup includes an associated milkline, the method comprising continuously monitoring the milk flow insaid associated milk line, and the vacuum in said teat cup, to determineif said teat cup is disconnected before the milk flow in said associatedmilk line has stopped.
 15. A method of automatically milking animals asclaimed in claim 12, comprising calculating and recording by means of acomputer the dead time between the time said teat cup is connected tothe teat of the animal being milked and the time the milk begins to flowfrom that teat.
 16. A method of automatically milking animals, such ascows, which comprises: determining the position of an animal's teat;connecting a teat cup to said teat with a connection means; detectingwhether a predetermined amount of vacuum exists in the portion of saidteat cup receiving said teat with a vacuum sensitive sensor; removingand again connecting said teat cup to its corresponding said teat whensaid predetermined amount of vacuum is not detected by said sensor; andcalculating and recording by means of a computer the dead time betweenthe time said vacuum-sensitive sensor detects the existence of apredetermined vacuum in said teat cup which is applied to said teat andthe time when the milk begins to flow from said teat.
 17. A method ofautomatically milking animals as claimed in claim 16, comprising makinga determination by said computer of the extent to which said dead timeexceeds a predetermined value for each animal of a group of animalswhich are milked by the method.
 18. A method of automatically milkinganimals as claimed in claim 17, wherein said computer determines andrecords the extent to which said dead time exceeds a predetermined valuefor each said flow of milk from each said teat of each particular animalof said group of animals.
 19. A method for automatically milking animalsas claimed in claim 16, comprising removing the animals to be milkedfrom an automatic milking parlor after a lapse of a predetermined periodof time following said dead time when no milk has flowed.
 20. A methodfor automatically milking animals, such as cows, which comprises:conveying data from sensors which are located in teat cups to acomputer; providing displays to a display device for any desired timesetting forth particular animals having selected minimum dead times orelectrical conductivities of their milk that exceed predetermined valuesand displaying the differences between said dead times or saidelectrical conductivities and said predetermined values.
 21. A methodfor automatically milking animals as claimed in claim 20, comprisingmeasuring the conductivity in the milk flow from the teat of an animalbeing milked and conveying said conductivity measurements to a computer;determining with said computer if said conductivity is within apredetermined range and routing said milk flow to a waste tank if saidconductivity is not within a predetermined range.
 22. A method forautomatically milking animals as claimed in claim 20, comprisingconveying the milk obtained from an animal being milked through athree-way valve controlled by said computer, routing the milk flowselectively through said three-way valve to either a storage tank or awaste tank depending on the conductivity value thereof.
 23. A method forautomatically milking animals as claimed in claim 20, comprisingproviding mastitis sensors in the milk flow stream of each teat cupassociated with each quarter of an animal's udder, conveying data fromeach said mastitis sensor to said computer, determining from said datawhether mastitis exists for each quarter of the animal's udder andautomatically via signals from said computer, routing any mastitisaffected milk from the affected quarter of the animal's udder to saidwaste tank.